CN107877537A - A kind of software manipulator with elastic web structure between finger - Google Patents
A kind of software manipulator with elastic web structure between finger Download PDFInfo
- Publication number
- CN107877537A CN107877537A CN201711261042.0A CN201711261042A CN107877537A CN 107877537 A CN107877537 A CN 107877537A CN 201711261042 A CN201711261042 A CN 201711261042A CN 107877537 A CN107877537 A CN 107877537A
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- China
- Prior art keywords
- finger
- software
- elastic web
- manipulator
- web structure
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000000694 effects Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000007779 soft material Substances 0.000 description 2
- 241000272525 Anas platyrhynchos Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Abstract
A kind of software manipulator with elastic web structure between finger, including fixed palm and software finger, the software finger are connected with fixed palm, connected between adjacent software finger by elastic web.It is not easy to slide, grasps the software manipulator with elastic web structure between stable finger the invention provides a kind of.
Description
Technical field
The present invention relates to manipulator technical field, more particularly, to the software manipulator with elastic web structure between a kind of finger.
Background technology
With the proposition of industrial expansion and " machine substitute human labor " theory, industrial robot flourishes in recent decades, work
Industry manipulator is an important branch of industrial robot.In present-day procedure, manipulator is applied to automatically by extensive
In production line, the mankind can be substituted with it and are engaged in operation dangerous, that repeatability is high, economization worker, efficiency is improved, ensures person peace
Entirely.At present, conventional robot is mostly the Rigid Manipulators using metal as material, but change of the Rigid Manipulators to environment does not have
There are enough flexibilities, and complicated in mechanical structure, cost is high, and unnecessary damage and destruction are easily caused to captured article.
In this case, software manipulator research is gradually risen.Various forms of software manipulators are designed and researched and developed, and common are
Three refer to, four refer to and the five fingers manipulator.As disclosed in Publication No. CN104959992A Chinese invention patent it is a kind of it is pneumatic
Software gripping device, a kind of software three disclosed in Publication No. CN205704256U Chinese utility model patent refer to machine
People, a kind of software four disclosed in Publication No. CN205704258U Chinese utility model patent refer to robot, and Japan
The Toshiba tetra- that the Koichi Suzumori of Toshiba are designed and produced refers to flexible paw, Massachusetts Institute Technology and Utah
The Utah/MIT tetra- of university's joint research and development refers to flexible paw, the three flexible paws of finger that Japanese Noritsugu et al. is designed and produced
Deng development important in inhibiting of these achievements in research to software manipulator.Rigidity deficiency yet with soft material all be present,
The common fault of stability difference, thus be difficult in adapt to for complex contour, small volume and the larger object of quality, it is easy to there is institute
Object is grabbed from situations such as being slid between finger or the object less than small volume is grabbed because of position inaccurate.In general, the number of finger
Amount is more, and the grasping ability of manipulator is stronger, while the control to manipulator is also more complicated.Do not changing the situation of fingers number
Under, the grasping ability of paw can be also improved by the improvement to robot manipulator structure.
The content of the invention
Easily slid to overcome existing software manipulator to exist, grasp the defects of unstable, the invention provides one kind not
Easily slide, the software manipulator with elastic web structure between the finger that grasping is stable.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of software manipulator with elastic web structure between finger, including fixed palm and software finger, the software finger
It is connected with fixed palm, is connected between adjacent software finger by elastic web.
Further, the software finger is provided with four, and four software fingers are distributed on fixed palm.
Beneficial effects of the present invention are mainly manifested in：Under the premise of control difficulty and manufacturing cost is not increased, between finger
Increase elastic web structure, envelope and fixation are realized to article using the elastic web between referring to when manipulator is grasping article, can be had
Effect prevents grabbing object from being slid between finger, increases the positioning fault-tolerance of grasping action again, substantially increases software manipulator and grab
Hold the stability of action.
Brief description of the drawings
Fig. 1 is structural representation of the present invention under open configuration.
Fig. 2 is Fig. 1 front view.
Fig. 3 is Fig. 1 upward view.
Fig. 4 is structural representation of the present invention under closed configuration.
Fig. 5 is Fig. 4 front view.
Fig. 6 is Fig. 4 upward view.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Reference picture 1~6, the software manipulator with elastic web structure between a kind of finger, including fixed palm 1 and software finger 2,
The software finger 2 is connected with fixed palm 1, is connected between adjacent software finger 2 by elastic web 3.
Further, the software finger 2 is provided with four, and four software fingers are distributed on fixed palm 1.
In the present embodiment, the elastic web between software finger 2 is made up of soft material, has some tension and elasticity, works as drive
Finger start when being flared out, elastic web 3 can also open under a stretching force, when driving finger inwardly to grasp article, article by
The parcel of elastic web 3, it can prevent article from being slid between two fingers, in the larger article of grasping quality, elastic web 3 can also provide
A part of frictional force and grasping force prevent article from dropping.
As shown in figure 1, four software fingers 2 are connected with fixed palm 1 and the symmetrical centre to fix palm 1 is axle in sky
Between on be uniformly distributed, software finger 2 is made with certain drive form while is flared out, now elastic web 3 is under a stretching force
It can be flared out；Software finger 2 is controlled to capture article, now elastic web 3 can be wrapped up inwardly under the elastic force effect of material itself
Article, prevent article from being slid between finger, increase the reliability of manipulator grasping action.
The invention provides a kind of software mechanical paw structure of band elasticity web, form grasps similar to duck's foot in manipulator
During article, envelope and fixed effect that the elastic web 3 between software finger 2 is realized to article, to complex contour small volume
Or quality it is larger article adaptability it is stronger, improve grasping action stability.
Although a kind of way of realization of the present invention is described above in conjunction with accompanying drawing, the invention is not limited in
Above-mentioned embodiment, above-mentioned embodiment is only schematical, be not it is restricted, this area it is general
Logical technical staff is under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, also
The specific conversion of many forms can be made, these are belonged within protection scope of the present invention.
This case explanation and accompanying drawing are appointed by taking four finger-type elasticity web software manipulators as an example, but the invention is not restricted to four finger structures
The combinations of fingers elasticity web software manipulator of meaning quantity also belongs to the technology category of the present invention, is accordingly to be regarded as the right model of the present invention
Within enclosing.
Claims (2)
1. the software manipulator with elastic web structure between a kind of finger, including fixed palm and software finger, the software finger with
Fixed palm connection, it is characterised in that：Connected between adjacent software finger by elastic web.
2. the software manipulator with elastic web structure between a kind of finger as claimed in claim 1, it is characterised in that：The software hand
Finger is provided with four, and four software fingers are distributed on fixed palm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711261042.0A CN107877537A (en) | 2017-12-04 | 2017-12-04 | A kind of software manipulator with elastic web structure between finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711261042.0A CN107877537A (en) | 2017-12-04 | 2017-12-04 | A kind of software manipulator with elastic web structure between finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107877537A true CN107877537A (en) | 2018-04-06 |
Family
ID=61773008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711261042.0A Pending CN107877537A (en) | 2017-12-04 | 2017-12-04 | A kind of software manipulator with elastic web structure between finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107877537A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818605A (en) * | 2018-09-10 | 2018-11-16 | 广东宏穗晶科技服务有限公司 | One kind being used for intelligent robot handgrip |
| CN109879047A (en) * | 2019-04-09 | 2019-06-14 | 徐柏辰 | Clamper |
| CN109927068A (en) * | 2019-03-05 | 2019-06-25 | 清华大学 | Flexible facies palmaris adaptively quickly grabs robot hand device |
| CN111319060A (en) * | 2020-03-03 | 2020-06-23 | 清华大学 | Soft robot gripping device and gripping method |
| WO2020153020A1 (en) * | 2019-01-22 | 2020-07-30 | ソニー株式会社 | Control device, control method, and program |
| CN112476473A (en) * | 2020-11-18 | 2021-03-12 | 南京林业大学 | Flexible mechanical gripper |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0156492A2 (en) * | 1984-03-21 | 1985-10-02 | The Secretary of State for Defence in Her Britannic Majesty's Government of the United Kingdom of Great Britain and | An enveloping gripper |
| SU1380938A1 (en) * | 1986-09-10 | 1988-03-15 | Университет дружбы народов им.Патриса Лумумбы | Manipulator grip |
| JPH0428981U (en) * | 1990-06-27 | 1992-03-09 | ||
| US20120038180A1 (en) * | 2009-09-03 | 2012-02-16 | Erik Edward Steltz | Method and Device for Manipulating an Object |
| CN104070528A (en) * | 2014-06-05 | 2014-10-01 | 河海大学 | Device and method for grabbing and releasing object |
| CN107932531A (en) * | 2017-11-20 | 2018-04-20 | 重庆大学 | Actively adapt to stiffness variable software mechanical gripper |
-
2017
- 2017-12-04 CN CN201711261042.0A patent/CN107877537A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0156492A2 (en) * | 1984-03-21 | 1985-10-02 | The Secretary of State for Defence in Her Britannic Majesty's Government of the United Kingdom of Great Britain and | An enveloping gripper |
| SU1380938A1 (en) * | 1986-09-10 | 1988-03-15 | Университет дружбы народов им.Патриса Лумумбы | Manipulator grip |
| JPH0428981U (en) * | 1990-06-27 | 1992-03-09 | ||
| US20120038180A1 (en) * | 2009-09-03 | 2012-02-16 | Erik Edward Steltz | Method and Device for Manipulating an Object |
| CN104070528A (en) * | 2014-06-05 | 2014-10-01 | 河海大学 | Device and method for grabbing and releasing object |
| CN107932531A (en) * | 2017-11-20 | 2018-04-20 | 重庆大学 | Actively adapt to stiffness variable software mechanical gripper |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818605A (en) * | 2018-09-10 | 2018-11-16 | 广东宏穗晶科技服务有限公司 | One kind being used for intelligent robot handgrip |
| WO2020153020A1 (en) * | 2019-01-22 | 2020-07-30 | ソニー株式会社 | Control device, control method, and program |
| CN109927068A (en) * | 2019-03-05 | 2019-06-25 | 清华大学 | Flexible facies palmaris adaptively quickly grabs robot hand device |
| CN109927068B (en) * | 2019-03-05 | 2020-07-28 | 清华大学 | Flexible palm surface self-adaptive rapid grabbing robot hand device |
| CN109879047A (en) * | 2019-04-09 | 2019-06-14 | 徐柏辰 | Clamper |
| CN109879047B (en) * | 2019-04-09 | 2023-11-21 | 徐柏辰 | Clamp holder |
| CN111319060A (en) * | 2020-03-03 | 2020-06-23 | 清华大学 | Soft robot gripping device and gripping method |
| CN112476473A (en) * | 2020-11-18 | 2021-03-12 | 南京林业大学 | Flexible mechanical gripper |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180406 |
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| RJ01 | Rejection of invention patent application after publication |